The concept of funnel control was developed in the seminal work [1]} (see also the recent survey in [2]}) and proved advantageous in a variety of applications such as control of industrial servo-systems [3]}, underactuated multibody systems [4]}, [5]}, peak inspiratory pressure [6]}, adaptive cruise control [7]} and even the control of infinite-dimensional systems such as a boundary controlled heat equation [8]}, a moving water tank [9]} and defibrillation processes of the human heart [10]}. We like to stress that, in contrast to MPC, funnel control does not use a model of the system, the funnel control input is determined by the instantaneous values of the system state and cannot “plan ahead”. This often results in unnecessarily high control values and a rapidly changing control signal. Numerical simulations from [11]}, [12]} show that Funnel MPC exhibits a considerably better controller performance than funnel control.
